I would like to record movement of my poppy ergo jr using the rest api.
It seems when the compliant mode is set to ‘true’ i.e the motors are drivable by hand, the only available data is the register ‘present_position’ (no speed data at all).
Then I try to figure out how, next querying every x ms the ‘present_position’, to replay this movement.
- Set ‘goal_position’ of each motors with the recorded values every x ms,
- Estimate the speed between 2 positions and set the ‘goal_speed’ too,
In a concise manner: which algo should I apply in order to replay a “movement” record (i.e. a set of positions) in accordance with the motor accurency/limits of a poppy ergo jr?
Thanks in advance,